JP2002336994A - Transport apparatus and welding equipment - Google Patents
Transport apparatus and welding equipmentInfo
- Publication number
- JP2002336994A JP2002336994A JP2002034192A JP2002034192A JP2002336994A JP 2002336994 A JP2002336994 A JP 2002336994A JP 2002034192 A JP2002034192 A JP 2002034192A JP 2002034192 A JP2002034192 A JP 2002034192A JP 2002336994 A JP2002336994 A JP 2002336994A
- Authority
- JP
- Japan
- Prior art keywords
- welding
- pair
- workpiece
- horizontal rod
- guide rails
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、船舶の船殻ブロッ
クや橋梁の鈑桁等の製造に使用されるスチフナ等を搬送
するための搬送装置及びスチフナ等を溶接するための溶
接装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device for transferring stiffeners and the like used in the manufacture of ship hull blocks and bridge girders, and a welding device for welding stiffeners and the like. .
【０００２】[0002]
【従来の技術】橋梁の鈑桁を製造するために用いられる
スチフナの自動溶接装置の一つに、特開平５−３１８１
１９号で提案されたものがある。この装置は、鈑桁上に
予め位置決めされたスチフナを鈑桁に対して自動的に仮
付け溶接するもので、ガイドレール上を往復走行する門
型走行台車に設置されたサイドビームを、門型走行台車
の走行移動方向に対して傾斜した姿勢に保持可能なよう
に水平揺動可能とし、このサイドビームに沿う駆動走行
可能に走行キャリッジを配置し、この走行キャリッジ
に、溶接時、スチフナを固定するためのクランプ具と溶
接トーチを昇降可能かつ垂直軸周りに回動可能に支持し
た構成である。2. Description of the Related Art An automatic stiffener welding apparatus used for manufacturing a bridge girder of a bridge is disclosed in Japanese Patent Application Laid-Open No. 5-3181.
There is one proposed in No. 19. This device automatically tack-welds a stiffener pre-positioned on a sheet girder to the sheet girder. The side beam installed on the gate-type traveling carriage reciprocatingly moving on the guide rail is connected to the portal-type traveling carriage. Horizontal swing so as to be able to be held in a posture inclined with respect to the traveling movement direction, and a traveling carriage is arranged so as to be able to drive along the side beam, and the stiffener is fixed to the traveling carriage at the time of welding. And the welding torch are supported so as to be movable up and down and rotatable about a vertical axis.
【０００３】[0003]
【発明が解決しようとする課題】ところで、生産工程の
さらなる効率化の要請から、スチフナの自動溶接におい
ては、仮り置き場所から鈑桁等の母材上へのスチフナ搬
送作業、加えて母材上の所定の取り付け位置へのスチフ
ナ位置決め作業を自動化すること、さらには搬送作業か
ら仮付け溶接までの一連の作業を自動化することが急務
となっている。By the way, in order to further improve the efficiency of the production process, in the automatic welding of the stiffener, the stiffener is transported from a temporary storage place to a base material such as a sheet girder, and in addition, the stiffener is transferred to the base material. There is an urgent need to automate the operation of positioning the stiffener at a predetermined mounting position, and also to automate a series of operations from transport operation to tack welding.
【０００４】しかしながら、これら作業の自動化を達成
するために、上記した従来の構成を採用して、溶接装置
のクランプ具にスチフナを把持させて搬送する場合に
は、以下のような問題が生じる。[0004] However, in order to achieve the automation of these operations, when the above-mentioned conventional configuration is adopted and the stiffener is gripped and conveyed by the clamp tool of the welding device, the following problems occur.
【０００５】 母材に対するスチフナの位置決めを行
なう場合には、ガイドレール方向の位置変更の際に門型
走行台車全体を移動させる必要がある。微細な位置決め
を行うには減速比を大きくする必要があるが、門型走行
台車は迅速な搬送を実現するために減速比を小さくして
いるので、微細な位置決めが行えない。また、門型走行
台車全体を移動させるためには多大な消費エネルギーが
必要になる。In order to position the stiffener with respect to the base material, it is necessary to move the entire portal-type traveling vehicle when changing the position in the guide rail direction. In order to perform fine positioning, it is necessary to increase the reduction ratio. However, the portal-type traveling vehicle cannot perform fine positioning because the reduction ratio is reduced in order to realize quick conveyance. In addition, a large amount of energy is required to move the entire portal traveling vehicle.
【０００６】 クランプ具は垂直軸に対して同一平面
内における回動が可能であることから、スチフナは同一
平面内ではガイドレール方向に対して任意の角度で位置
決めが可能であるものの、この位置決め角度がサイドビ
ームの揺動可能な角度を超えた場合には、自動溶接の際
に、走行キャリッジの移動に加えて門型走行台車全体の
移動も必要になるので、迅速な自動溶接が行なえず、か
つ、必要とする消費エネルギーも多い。[0006] Since the clamp member can rotate in the same plane with respect to the vertical axis, the stiffener can be positioned at an arbitrary angle with respect to the guide rail direction in the same plane. If the angle exceeds the swingable angle of the side beam, in addition to the movement of the traveling carriage, it is necessary to move the entire portal carriage in automatic welding, so rapid automatic welding cannot be performed. In addition, much energy is required.
【０００７】 クランプ具が一つであることから、被
搬送物の中央部を把持して搬送することになるが、平板
状の形状を有するスチフナの場合には、中央部を把持す
ると撓みが生じて位置決め精度や溶接精度に悪影響を及
ぼすことになる。[0007] Because there is only one clamp, the conveyed object is gripped and conveyed while gripping the central portion. However, in the case of a stiffener having a flat plate shape, bending occurs when the central portion is gripped. This has an adverse effect on positioning accuracy and welding accuracy.
【０００８】 曲がりブロック、例えば船殻のパネル
ブロックの場合には、母材に対してスチフナを垂直方向
に１０°程度の角度を持った状態で取付ける必要がある
が、上記した構成ではこのような要請に対応できない。In the case of a bent block, for example, a hull panel block, it is necessary to mount the stiffener at an angle of about 10 ° in the vertical direction with respect to the base material. Can't respond to request.
【０００９】 スチフナ同士をＴ字型に取付ける場合
には、スチフナと母材間の溶接だけでなく、スチフナ間
の立て向き溶接を行なう必要があるが、上記した構成で
はこのような立て向き溶接には対応できない。When the stiffeners are mounted in a T-shape, not only the welding between the stiffener and the base material, but also the vertical welding between the stiffeners needs to be performed. Cannot respond.
【００１０】本発明は、上記した問題点に鑑みてなされ
たものであり、迅速かつ正確なスチフナ等の長尺の部材
（以下、「被搬送物」又は「被溶接物」と言う。）の搬
送、位置決めを行うことができる被搬送物の搬送装置、
及び、搬送から仮り付け溶接を行うことができる被溶接
物の溶接装置を提供することを目的としている。The present invention has been made in view of the above-mentioned problems, and is intended to provide a quick and accurate long member such as a stiffener (hereinafter, referred to as a "conveyed object" or a "welded object"). A transport device for transported objects that can perform transport and positioning,
It is another object of the present invention to provide a welding device for an object to be welded, which can perform tack welding from conveyance.
【００１１】[0011]
【課題を解決するための手段】上記した目的を達成する
ために、本発明に係る被搬送物の搬送装置は、平行に配
置された一対のガイドレールと、これら対を成すガイド
レール上を往復走行自在に移動する門型走行台車と、こ
の門型走行台車の横杆に配置された一対のハンドリング
ロボットを有する被搬送物の搬送装置であって、前記ハ
ンドリングロボットは、少なくとも前記横杆に沿って往
復移動可能な横行部と、この横行部を基点として垂直軸
に対して回動可能なベース部と、このベース部の端部に
設けられた垂直方向に昇降可能な昇降部とから構成され
ており、この昇降部は、垂直軸に対して回動可能かつ上
下方向の揺動が可能である把持装置を有している。そし
て、このように構成した搬送装置を使用することで、迅
速かつ正確な被搬送物の搬送及び位置決めを行うことが
できる。In order to achieve the above object, an apparatus for transporting an object according to the present invention comprises a pair of guide rails arranged in parallel, and a pair of guide rails reciprocating on the pair of guide rails. An apparatus for transporting an article to be transported having a gate-type traveling vehicle that moves freely, and a pair of handling robots disposed on a horizontal rod of the portal-type traveling vehicle, wherein the handling robot is at least along the horizontal rod. A reciprocating traversing portion, a base portion rotatable about a vertical axis with the traversing portion as a base point, and a vertically movable portion provided at an end of the base portion and capable of moving up and down in a vertical direction. The lifting unit has a gripping device that is rotatable with respect to a vertical axis and is capable of swinging up and down. By using the transport device configured as described above, it is possible to quickly and accurately transport and position the transported object.
【００１２】また、本発明に係る被溶接物の溶接装置
は、平行に配置された一対のガイドレールと、これら対
を成すガイドレール上を往復走行自在に移動する門型走
行台車と、この門型走行台車の横杆に配置された一対の
ハンドリングロボットを有する被溶接物の溶接装置であ
って、前記ハンドリングロボットは、少なくとも前記横
杆に沿って往復移動可能な横行部と、この横行部を基点
として垂直軸に対して回動可能なベース部と、このベー
ス部の端部に設けられた垂直方向に昇降可能な昇降部と
から構成されており、この昇降部は、垂直軸に対して回
動可能かつ上下方向の揺動が可能である把持装置と、垂
直方向に移動可能な溶接装置とを有している。そして、
このように構成した溶接装置を使用することで、迅速か
つ正確な被溶接物の搬送、位置決め及び仮付け溶接を行
うことができる。Further, a welding apparatus for an object to be welded according to the present invention comprises a pair of guide rails arranged in parallel, a gate-type traveling carriage reciprocally movable on these paired guide rails, and a A welding device for a workpiece having a pair of handling robots disposed on a horizontal rod of a mold traveling cart, wherein the handling robot includes a traversing part that can reciprocate at least along the horizontal rod, and a traversing part. As a base point, a base portion rotatable with respect to a vertical axis, and a vertically movable portion provided at an end of the base portion, which can be vertically raised and lowered, are configured with respect to the vertical axis. It has a gripping device that can rotate and swing vertically and a welding device that can move vertically. And
By using the welding apparatus configured as described above, it is possible to quickly and accurately transport, position, and tack weld the workpiece.
【００１３】[0013]
【発明の実施の形態】本発明に係る被搬送物の搬送装置
は、平行に配置された一対のガイドレールと、これら対
を成すガイドレール上を往復走行自在に移動する門型走
行台車と、この門型走行台車の横杆に配置された一対の
ハンドリングロボットを有する被搬送物の搬送装置であ
って、前記ハンドリングロボットは、少なくとも前記横
杆に沿って往復移動可能な横行部と、この横行部を基点
として垂直軸に対して回動可能なベース部と、このベー
ス部の端部に設けられた垂直方向に昇降可能な昇降部と
から構成されており、この昇降部は、垂直軸に対して回
動可能かつ上下方向の揺動が可能である把持装置を有し
ているものである。DESCRIPTION OF THE PREFERRED EMBODIMENTS An object-to-be-conveyed device according to the present invention comprises: a pair of guide rails arranged in parallel; a gate-type traveling carriage which reciprocates on these paired guide rails; An apparatus for transporting an object having a pair of handling robots disposed on a horizontal rod of the gate-type traveling cart, wherein the handling robot includes a traversing part that can reciprocate at least along the horizontal rod, The base part is rotatable with respect to a vertical axis with the base as a base, and a vertically movable part provided at an end of the base part is configured to be vertically movable. It has a gripping device that is rotatable with respect to and can swing vertically.
【００１４】上記した構成の本発明に係る被搬送物の搬
送装置によれば、仮置きされた被搬送物を母材上に搬送
した後、被搬送物を母材上に位置決めする際には、ハン
ドリングロボットの横行部を移動させ、把持装置を垂直
軸に回動させつつベース部を回動させることにより、門
型走行台車を移動させることなく、被搬送物の位置決め
を迅速に行えることになる。また、ハンドリングロボッ
トを一対有することから、被搬送物の両端を把持して搬
送、位置決めを行うことができ、被搬送物の撓みを防止
できる。さらに、把持装置は上下方向の揺動が行えるこ
とから、母材に対して垂直方向に角度を有する状態で被
搬送物を位置決めすることができる。According to the transporting apparatus for transported objects according to the present invention having the above-described configuration, when the temporarily placed transported object is transported onto the base material and then the transported object is positioned on the base material, By moving the traversing part of the handling robot and rotating the base part while rotating the gripping device about the vertical axis, it is possible to quickly position the transported object without moving the portal carriage. Become. In addition, since there is a pair of handling robots, it is possible to carry and position the object by gripping both ends of the object, and to prevent the object from bending. Further, since the gripping device can swing up and down, it is possible to position the transported object in a state where it has an angle in the vertical direction with respect to the base material.
【００１５】また、本発明に係る被溶接物の溶接装置
は、平行に配置された一対のガイドレールと、これら対
を成すガイドレール上を往復走行自在に移動する門型走
行台車と、この門型走行台車の横杆に配置された一対の
ハンドリングロボットを有する被溶接物の溶接装置であ
って、前記ハンドリングロボットは、少なくとも前記横
杆に沿って往復移動可能な横行部と、この横行部を基点
として垂直軸に対して回動可能なベース部と、このベー
ス部の端部に設けられた垂直方向に昇降可能な昇降部と
から構成されており、この昇降部は、垂直軸に対して回
動可能かつ上下方向の揺動が可能である把持装置と、垂
直方向に移動可能な溶接装置とを有しているものであ
る。A welding apparatus for a workpiece according to the present invention comprises: a pair of guide rails arranged in parallel; a gate-type traveling carriage movable reciprocally on the paired guide rails; A welding device for a workpiece having a pair of handling robots disposed on a horizontal rod of a mold traveling cart, wherein the handling robot includes a traversing part that can reciprocate at least along the horizontal rod, and a traversing part. As a base point, a base portion rotatable with respect to a vertical axis, and a vertically movable portion provided at an end of the base portion, which can be vertically raised and lowered, are configured with respect to the vertical axis. It has a gripping device that is rotatable and capable of swinging up and down, and a welding device that is vertically movable.
【００１６】上記した構成の本発明に係る被溶接物の溶
接装置によれば、被溶接物の搬送及び位置決めに関して
は、上記した本発明に係る被搬送物の搬送装置と同様の
効果を有すると共に、仮付け溶接においては、被溶接物
の両端を把持装置で把持した状態で、被溶接物を母材に
位置決めした後、被溶接物の一方の端部近傍を母材に隅
肉溶接し、当該一方の端部近傍を把持装置で把持した状
態で、他方の端部の把持を解除し、他方の端部に位置し
ていたハンドリングロボットを一方の端部近傍に移動さ
せ、その後、他方の端部に向けて順次適当な間隔で隅肉
溶接を行なうことができる。また、溶接の際には、両方
の把持装置で被溶接物を把持することができる。このよ
うにすることで、被溶接物の撓みや位置ずれを防止し
て、迅速かつ正確に仮付け溶接を行うことができる。According to the apparatus for welding a workpiece according to the present invention having the above-described configuration, the same effects as those of the apparatus for transporting a workpiece according to the present invention described above can be obtained with respect to the transport and positioning of the workpiece. In the tack welding, in a state where both ends of the workpiece are gripped by the gripping device, the workpiece is positioned on the base metal, and then the vicinity of one end of the workpiece is fillet welded to the base metal, In a state where the vicinity of the one end is gripped by the gripping device, the grip of the other end is released, and the handling robot located at the other end is moved to the vicinity of the one end, and then the other end is moved. Fillet welding can be performed sequentially at appropriate intervals toward the ends. Further, at the time of welding, the workpiece can be gripped by both gripping devices. By doing so, it is possible to prevent the workpiece to be bent or displaced, and to quickly and accurately perform tack welding.
【００１７】上記した構成の本発明に係る被溶接物の溶
接装置において、溶接装置を、先端部に溶接手段を装着
した少なくとも５つの駆動軸を有する多関節ロボットと
なせば、立て向き溶接は当然のこと、被溶接物の仮付け
溶接で発生する縦横の任意の溶接部位にも対応すること
ができるようになる。In the apparatus for welding a workpiece to be welded according to the present invention having the above-described structure, if the welding apparatus is an articulated robot having at least five drive shafts equipped with welding means at the tip, the vertical welding is naturally performed. That is, it is possible to cope with any vertical and horizontal welding portions generated by tack welding of the workpiece.
【００１８】また、上記した構成の本発明に係る被搬送
物の搬送装置、或いは、被溶接物の溶接装置において、
対をなすハンドリングロボットの横行部が、夫々横杆の
一方側方と他方側方に取付けられ、横杆に沿う移動が干
渉されないように構成した場合には、初期把持状態を変
化させることなく被搬送物或いは被溶接物を１８０°の
範囲に亘って動作させることができるようになる。In the apparatus for transporting an object to be transported or the apparatus for welding an object to be welded according to the present invention,
If the traversing parts of the paired handling robots are mounted on one side and the other side of the horizontal rod, respectively, so that the movement along the horizontal rod is not interfered, The object to be conveyed or the object to be welded can be operated over a range of 180 °.
【００１９】[0019]
【実施例】以下、本発明に係る被溶接物の溶接装置を図
１〜図１０に示す実施例に基づいて説明する。図１は本
発明に係る被溶接物の溶接装置における全体の概略構成
を説明する斜視図、図２は図１の要部拡大図、図３はハ
ンドリングロボットの横杆に沿って移動する横行部及び
ベース部の基端側の構成を説明する図、図４は本発明に
係る被溶接物の溶接装置の使用状態の他の例を説明する
図、図５は本発明に係る被溶接物の溶接装置の仮付け溶
接時の動作を説明する図、図６及び図７は本発明に係る
被溶接物の溶接装置の動作を模式的に説明する図、図８
はハンドリングロボットの横行部の他の例を説明する
図、図９及び図１０はハンドリングロボットの横行部の
他の例を備えた本発明に係る被溶接物の溶接装置の動作
を模式的に説明する図である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a welding apparatus for a workpiece according to the present invention will be described with reference to the embodiments shown in FIGS. FIG. 1 is a perspective view for explaining an overall schematic configuration of a welding device for a workpiece according to the present invention, FIG. 2 is an enlarged view of a main part of FIG. 1, and FIG. 3 is a traversing portion which moves along a horizontal rod of a handling robot. FIG. 4 is a diagram illustrating a configuration of a base end side of a base portion, FIG. 4 is a diagram illustrating another example of a use state of the welding device for a workpiece according to the present invention, and FIG. FIGS. 6 and 7 schematically illustrate the operation of the welding device during tack welding, and FIGS. 6 and 7 schematically illustrate the operation of the welding device for welding a workpiece according to the present invention.
FIG. 9 is a view for explaining another example of the traversing part of the handling robot. FIGS. 9 and 10 schematically illustrate the operation of the welding device for a workpiece according to the present invention having another example of the traversing part of the handling robot. FIG.
【００２０】図１〜図５において、１は本発明に係る被
溶接物の溶接装置であり、母材２の両側部に平行に配置
された一対のガイドレール３上を門型走行台車４が往復
走行自在に移動するように配置されると共に、この門型
走行台車４の横杆４ａに一対のハンドリングロボット５
が設けられた構成である。In FIG. 1 to FIG. 5, reference numeral 1 denotes an apparatus for welding an object to be welded according to the present invention, in which a gate-shaped traveling vehicle 4 runs on a pair of guide rails 3 arranged in parallel on both sides of a base material 2. A pair of handling robots 5 are arranged so as to be able to reciprocate freely and are attached to the lateral rod 4a of the portal traveling carriage 4.
Is provided.
【００２１】そして、前記ハンドリングロボット５は、
例えばエンコーダ、ブレーキを備えたサーボモータ５ａ
から減速機５ｂを介して正逆回転される横行用駆動軸５
ｃに一体的に取付けられて正逆回転するピニオン５ｄ
と、このピニオン５ｄに噛合するラック５ｅ（横杆４ａ
の上面に敷設）によって、前記横杆４ａの両側に各２本
ずつ敷設された直動スライダー５ｆに案内されて前記横
杆４ａに沿って往復移動が可能な例えば角筒状の横行部
５ｇと、例えば前記と同様のサーボモータ５ｈ、減速機
５ｉを介して駆動される旋回用駆動軸５ｊによって基端
側を支点として先端側が回動可能な所定の長さを有する
ベース部５ｋと、昇降用駆動軸５ｍによって駆動される
ボールねじ機構により、前記ベース部５ｋの端部に設け
られたガイド部材５ｎに沿って垂直方向に昇降が可能な
昇降部５ｏとから構成されている。Then, the handling robot 5
For example, a servo motor 5a having an encoder and a brake
Traverse drive shaft 5 that is rotated forward and reverse through a speed reducer 5b
pinion 5d that is integrally attached to c and rotates forward and backward
And a rack 5e (lateral rod 4a) meshing with the pinion 5d.
Is laid on the upper surface of the horizontal rod 4a, and is guided by linear motion sliders 5f, two on each side of the horizontal rod 4a, and is capable of reciprocating along the horizontal rod 4a. For example, a base portion 5k having a predetermined length such that the distal end side can be rotated about the base end side by a turning drive shaft 5j driven via a servo motor 5h and a speed reducer 5i as described above, The ball screw mechanism driven by the drive shaft 5m comprises a lifting unit 5o which can move up and down in a vertical direction along a guide member 5n provided at an end of the base unit 5k.
【００２２】また、この昇降部５ｏには被溶接物６を把
持するための把持装置５ｏａと、溶接装置として、例え
ば５軸を有する多関節の溶接ロボット５ｏｂを配置し、
前記把持装置５ｏａは垂直軸５ｏｃに対して回動が可能
なように取付けられると共に、この垂直軸５ｏｃと同軸
心の回動軸５ｏｄの下端で水平軸５ｏｅによって上下方
向の揺動が可能なように取付けられている。A gripping device 5oa for gripping the work 6 to be welded and a multi-joint welding robot 5ob having, for example, five axes are arranged in the elevating portion 5o as welding devices.
The gripping device 5oa is mounted so as to be rotatable with respect to the vertical axis 5oc, and is capable of swinging up and down by the horizontal axis 5oe at the lower end of the rotary axis 5od coaxial with the vertical axis 5oc. Mounted on
【００２３】また、５ｏｆは把持装置５ｏａの近傍に取
付けられた母材位置や溶接部位の測定手段であり、例え
ばＣＣＤカメラが取り付けられる。さらに、図示省略し
たが被溶接物位置の測定手段として例えばレーザ変位計
が取り付けられている。Reference numeral 5of denotes a measuring means for measuring the position of the base material and the welded portion attached near the gripping device 5oa. For example, a CCD camera is attached. Further, although not shown, for example, a laser displacement gauge is attached as a means for measuring the position of the workpiece.
【００２４】なお、本発明に係る溶接装置は、図示を省
略したコントローラにより制御されるが、具体的には、
母材２と被溶接物６の形状、被溶接物６の母材２上の取
り付け位置等の情報を含むＣＡＤデータからＣＡＭシス
テムによって生成されたＮＣデータと前記測定手段等か
ら得られた測定データ等によって制御される。The welding apparatus according to the present invention is controlled by a controller (not shown).
NC data generated by the CAM system from CAD data including information such as the shapes of the base material 2 and the workpiece 6 and the mounting position of the workpiece 6 on the base material 2 and measurement data obtained from the measuring means and the like. And so on.
【００２５】ところで、前記横行部５ｇは、被溶接物６
を仮置き場所から受け取る際や、被溶接物６を位置決め
する際に、ハンドリングロボット５の平行移動を可能と
するものである。すなわち、位置決めの際には、被溶接
物６をガイドレール３に対して垂直方向へ平行移動する
ことが可能となる。また、２つの横行部５ｇの間隔を適
宜変更することによって、被溶接物６の形状、スケール
に対応した把持位置を得ることができる。特に、どのよ
うな長さの被溶接物６でも、その両端部を把持できるこ
とから、被溶接物６が例えばスチフナのような撓み易い
ものであっても、搬送や位置決め時における被溶接物６
の撓みを防止することができる。Incidentally, the traversing portion 5g is provided with a work piece 6
When the robot is received from the temporary storage place or when the workpiece 6 is positioned, the handling robot 5 can be moved in parallel. That is, at the time of positioning, the workpiece 6 can be translated in a direction perpendicular to the guide rail 3. Also, by appropriately changing the interval between the two traversing portions 5g, a gripping position corresponding to the shape and scale of the workpiece 6 can be obtained. In particular, since the workpiece 6 of any length can be gripped at both ends thereof, even if the workpiece 6 is easily bent such as a stiffener, the workpiece 6 at the time of conveyance or positioning is not required.
Can be prevented from being bent.
【００２６】また、ベース部５ｋの回動動作、把持装置
５ｏａの回動動作及び横行部５ｇの間隔変更動作を同調
させて行なうことによって、図５に矢印で示すように、
横行部５ｇの横杆４ａに沿う平行移動と組み合わせるこ
とにより、門型走行台車４を移動させることなく、任意
の方向について、被溶接物６をガイドレール３に対して
平行移動することが可能となる。Further, by performing the rotating operation of the base portion 5k, the rotating operation of the gripping device 5oa, and the interval changing operation of the traversing portion 5g in synchronization with each other, as shown by arrows in FIG.
By combining this with the parallel movement of the traversing portion 5g along the horizontal rod 4a, the workpiece 6 can be translated with respect to the guide rail 3 in any direction without moving the portal carriage 4. Become.
【００２７】すなわち、図６（ａ）に示したような、ガ
イドレール３と垂直方向の平行移動に、図６（ｂ）に示
すような、横行部５ｇの離反と、対をなすベース部５ｋ
と把持装置５ｏａが互に接近するような逆方向の両回動
動作を同調させたり、或いは、図６（ｃ）に示すよう
な、横行部５ｇに対して対をなすベース部５ｋと把持装
置５ｏａの同方向への回動動作を同調させたりすること
によって、被溶接物６を任意の方向に移動することが可
能となる。That is, the translation in the vertical direction with respect to the guide rail 3 as shown in FIG. 6A, the separation of the traversing portion 5g and the base portion 5k forming a pair as shown in FIG. 6B.
And the gripping device 5oa and the base device 5k and the gripping device which synchronize with each other in the opposite directions so as to approach each other, or as shown in FIG. By synchronizing the rotation of 5oa in the same direction, the workpiece 6 can be moved in any direction.
【００２８】一方、対をなすベース部５ｋと把持装置５
ｏａの両回動動作に、横行部５ｇの間隔変更動作を同調
させることによって、被溶接物６を、図７（ａ）に示し
たガイドレール３と垂直の方向から、図７（ｂ）（ｃ）
に示すような、ガイドレール３と水平の方向へと、±９
０度の範囲で被溶接物６を角度調整することが可能とな
る。On the other hand, a pair of the base portion 5k and the holding device 5
By synchronizing the operation of changing the interval of the traversing portion 5g with both the rotation operations of oa, the workpiece 6 can be moved from the direction perpendicular to the guide rail 3 shown in FIG. c)
In the direction parallel to the guide rail 3 as shown in FIG.
The angle of the workpiece 6 can be adjusted within the range of 0 degrees.
【００２９】また、昇降部５ｏは、被溶接物６を仮置き
場所から受け取る際や、被溶接物６の仮付け溶接等の際
に、把持装置５ｏａと溶接ロボット５ｏｂとを適切な高
さに位置させるためのものである。把持装置５ｏａは、
シリンダ装置を駆動させて一対の把持用部材５ｏａａの
間隔を変更することにより把持・開放動作を行うハンド
装置であり、溶接ロボット５ｏｂは、先端部に溶接トー
チ５ｏｂａが装着された、例えば５軸の駆動軸を有する
多関節ロボットである。When the workpiece 6 is received from the temporary storage location or when the workpiece 6 is tack-welded, the lifting unit 5o raises the gripping device 5oa and the welding robot 5ob to an appropriate height. It is for positioning. The gripping device 5oa is
This is a hand device that performs a gripping / opening operation by changing the distance between a pair of gripping members 5oaa by driving a cylinder device. The welding robot 5ob has a welding torch 5oba attached to a tip end thereof. It is an articulated robot having a drive shaft.
【００３０】なお、少なくとも５軸の駆動軸がある溶接
ロボット５ｏｂであれば、昇降部５ｏを固定した状態で
溶接トーチ５ｏｂａ（ワイヤ）の位置、方向を自在に変
更することができる（溶接トーチ５ｏｂａに平行な軸方
向の回転動作は考慮しなくとも良いから、６軸ではなく
５軸となる）。If the welding robot 5ob has at least five drive shafts, the position and direction of the welding torch 5oba (wire) can be freely changed while the elevating unit 5o is fixed (welding torch 5oba). It is not necessary to consider the rotation operation in the axial direction parallel to the above, so that the number of axes is five instead of six.)
【００３１】次に、上記した構成の本発明に係る被溶接
物の溶接装置１の動作について説明する。Next, the operation of the welding device 1 for a workpiece according to the present invention having the above-described configuration will be described.
【００３２】先ず、コンベア上に母材２が配置された
後、母材２上にマーキングされた複数の基準点（例えば
前工程のＮＣ切断装置によって対角上に２点マーキング
されている。）を本発明に係る被溶接物の溶接装置１の
把持装置５ｏａの近傍に取付けたＣＣＤカメラ５ｏｆで
認識し、実際の母材２の位置・方向とＮＣデータにおけ
る母材の位置・方向とのずれを算出して、ＮＣデータを
実際の作業に対応させるようにするための補正をコント
ローラが行なう。First, after the base material 2 is placed on the conveyor, a plurality of reference points marked on the base material 2 (for example, two points are marked diagonally by the NC cutting device in the previous process). Is recognized by the CCD camera 5of attached to the vicinity of the gripping device 5oa of the welding device 1 for a workpiece according to the present invention, and the deviation between the actual position and direction of the base material 2 and the position and direction of the base material in the NC data. Is calculated, and the controller performs a correction to make the NC data correspond to the actual work.
【００３３】次に、門型走行台車４を、ガイドレール３
の間に設けられた被溶接物６の仮置き場所に移動させ、
立設された被溶接物６の位置を図示省略した測定手段と
してのレーザ変位計によって測定し、ハンドリングロボ
ット５を適切に動作させることによって、被溶接物６の
両端部を把持装置５ｏａで把持する。Next, the gate-shaped traveling cart 4 is moved to the guide rail 3
Is moved to a temporary storage place of the workpiece 6 provided between
The position of the work 6 to be erected is measured by a laser displacement meter as a measuring means (not shown), and the handling robot 5 is appropriately operated to hold both ends of the work 6 with the holding device 5oa. .
【００３４】次に、昇降部５ｏを上昇させ、把持装置５
ｏａで被溶接物６の両端部を把持した状態で門型走行台
車４を移動させることにより被溶接物６を母材２上の据
え付け位置近傍まで搬送する。この搬送時、ガイドレー
ル３方向に対しては、主に門型走行台車４によって移動
するため、被溶接物６の高速搬送が可能である。Next, the lifting unit 5o is raised, and the gripping device 5
By moving the portal carriage 4 while holding both ends of the workpiece 6 at oa, the workpiece 6 is conveyed to the vicinity of the installation position on the base material 2. At this time, the workpiece 6 is moved mainly by the portal traveling carriage 4 in the direction of the guide rail 3 so that the workpiece 6 can be transported at a high speed.
【００３５】その後、前記した動作を行うことにより、
対を成すハンドリングロボット５が精度良く被溶接物６
を位置決めする。このとき、前記把持装置５ｏａに取付
けたＣＣＤカメラ５ｏｆによって被溶接物６の配置場所
にマーキングされたマーキング線（例えば前記基準点と
同様にＮＣ切断機によって罫書き済み）を認識すること
（センシング）で、非常に精度良く被溶接物６の位置決
めを行なうことができる。すなわち、本発明に係る被溶
接物の溶接装置１では、センシングにより詳細な位置決
めを行なうことができる。Thereafter, by performing the above-described operation,
The pair of handling robots 5 can be accurately welded.
Position. At this time, the CCD camera 5of attached to the gripping device 5oa recognizes the marking line (for example, the scored by the NC cutting machine as in the case of the reference point) marked at the location of the workpiece 6 (sensing). Thus, the workpiece 6 can be positioned with high accuracy. That is, in the welding device 1 for an object to be welded according to the present invention, detailed positioning can be performed by sensing.
【００３６】被溶接物６の両端を把持装置５ｏａで把持
した状態で、上記したように被溶接物６を母材２に位置
決めした後は、ＮＣデータに従って被溶接物６と母材２
で形成される部位を溶接する。After positioning the workpiece 6 on the base material 2 as described above with both ends of the workpiece 6 being gripped by the gripping device 5oa, the workpiece 6 and the base metal 2 are positioned in accordance with the NC data.
The part formed by is welded.
【００３７】この溶接は、図５に示すように、被溶接物
６の両端を把持装置５ｏａで把持した状態で、被溶接物
６を母材２に位置決めした後、被溶接物６の一方の端部
近傍を母材２に隅肉溶接し、当該一方の端部近傍を把持
装置５ｏａで把持した状態で、他方の端部の把持を解除
し、他方の端部に位置させていたハンドリングロボット
５を一方の端部近傍に移動させることによって行う。そ
の後は他方の端部に向けて順次適当な間隔で同様に隅肉
溶接を行なう。In this welding, as shown in FIG. 5, the workpiece 6 is positioned on the base material 2 with both ends of the workpiece 6 being gripped by the gripping device 5oa, and then one of the workpieces 6 is welded. A handling robot in which the vicinity of one end is fillet welded to the base material 2 and the one end is gripped by the gripping device 5oa, the other end is released, and the handling robot is positioned at the other end. 5 is moved to the vicinity of one end. Thereafter, fillet welding is similarly performed sequentially at appropriate intervals toward the other end.
【００３８】以上の操作を、コンベア上に配置されてい
る母材２に取付ける被溶接物６部材の仮付けを全て完了
するまで繰り返す。The above operation is repeated until the temporary attachment of the six members to be welded to the base material 2 placed on the conveyor is completed.
【００３９】ところで、上記の図１〜図７に示した実施
例では、把持装置５ｏａによって把持した被溶接物６の
姿勢動作範囲は、図７を用いて説明したように、図７
（ａ）の初期把持状態から、図７（ｂ）又は図７（ｃ）
に示した±９０°の範囲に制限されるものの、初期把持
状態は任意に選択が可能なため、実質的には被溶接物６
を３６０°自在に動作できることになる。Incidentally, in the embodiment shown in FIGS. 1 to 7 described above, the posture movement range of the workpiece 6 gripped by the gripping device 5oa is, as described with reference to FIG.
FIG. 7B or FIG. 7C from the initial gripping state of FIG.
Although the initial gripping state can be arbitrarily selected, it is substantially limited to the range of ± 90 ° shown in FIG.
Can be freely operated by 360 °.
【００４０】すなわち、図１〜図７に示した実施例で
は、被溶接物６を３６０°自在に動作するためには、初
期の把持状態を変化させなければならず、一旦把持した
状態を基準とした場合には±９０°の範囲を超えて動作
することはできない。That is, in the embodiment shown in FIGS. 1 to 7, in order to allow the workpiece 6 to freely move 360 °, the initial gripping state must be changed. In this case, it is impossible to operate beyond the range of ± 90 °.
【００４１】これに対し、ハンドリングロボット５の横
杆４ａに沿う横行部５ｇの形状を、図１〜図５に示した
ような横杆４ａに外嵌される角筒状の横行部５ｇに代え
て、図８に示すような、横杆４ａの一方の側方に取り付
けた構成となした場合には、対をなすハンドリングロボ
ット５の横行部５ｇを夫々横杆４ａの一方側方と他方側
方に取り付け、横杆４ａに沿う移動が干渉されないよう
に構成することで、図９（ａ）又は図１０（ａ）に示し
た初期把持状態から、図９（ｂ）（ｃ）又は図１０
（ｂ）（ｃ）に示したように、被溶接物６を１８０°の
範囲に亘って動作することができるようになって、より
ガイドレール３に近い位置に被溶接物６を位置決めでき
るようになる。On the other hand, the shape of the traversing portion 5g along the lateral rod 4a of the handling robot 5 is changed to a rectangular tubular traversing portion 5g externally fitted to the lateral rod 4a as shown in FIGS. In the configuration shown in FIG. 8, the pair of handling robots 5 are attached to one side and the other side of the horizontal rod 4a, respectively. 9 (b), (c) or 10 (a) from the initial gripping state shown in FIG. 9 (a) or FIG. 10 (a) by being mounted so as not to interfere with the movement along the horizontal rod 4a.
(B) As shown in (c), the workpiece 6 can be operated over a range of 180 °, and the workpiece 6 can be positioned closer to the guide rail 3. become.
【００４２】以上の実施例は被溶接物の溶接装置１につ
いて説明したが、本発明に係る被搬送物の搬送装置は、
構成上から見た場合、上記した本発明に係る被溶接物の
溶接装置１から、溶接装置である溶接ロボット５ｏｂを
取り除いたものに他ならず、溶接ロボット５ｏｂを除い
たその他の構成は上記した被溶接物の溶接装置１と全く
同じである。従って、その動作も、上記した被溶接物の
溶接装置１の動作から、溶接ロボット５ｏｂの動作をな
くしたものである。In the above embodiment, the welding apparatus 1 for an object to be welded has been described.
When viewed from the configuration, the above-described welding device 1 for a workpiece according to the present invention is the same as the welding device 1 except that the welding robot 5ob as a welding device is removed, and other configurations except the welding robot 5ob are described above. This is exactly the same as the welding device 1 for the workpiece. Accordingly, the operation is also the same as the operation of the welding device 1 for the work to be welded except that the operation of the welding robot 5ob is eliminated.
【００４３】[0043]
【発明の効果】以上説明したように、本発明によれば、
一対のハンドリングロボットが共通の門型走行台車の横
杆上を移動するのでコンパクトな構造を実現でき、か
つ、把持する被搬送物や被溶接物の姿勢動作範囲を広く
することが可能になる。As described above, according to the present invention,
Since the pair of handling robots move on the horizontal bar of the common portal carriage, a compact structure can be realized, and the posture movement range of the object to be conveyed or the object to be gripped can be widened.
【００４４】また、門型走行台車を固定した状態でも被
搬送物や被溶接物を３６０°の動作範囲に亘って自在に
ハンドリングできるので、被搬送物や被溶接物の搬送、
位置決めに際しては、大まかな移動を門型走行台車で行
なうことで迅速に、また、２台の把持装置で微調整する
ことで正確に行なえるようになる。Further, even when the gate-type traveling cart is fixed, the object to be conveyed and the object to be welded can be handled freely over a 360 ° operation range, so that the object to be conveyed and the object to be welded can be transported.
At the time of positioning, rough movement can be performed quickly by using a portal-type traveling carriage, and accurate by finely adjusting the two holding devices.
【００４５】また、本発明に係る被溶接物の溶接装置で
は、上記した効果によって、正確な仮付け溶接が、どの
ような位置であっても、迅速に行えるようになる。Further, in the welding device for a workpiece according to the present invention, accurate tack welding can be quickly performed at any position by the above-described effects.
【図１】本発明に係る被溶接物の溶接装置における全体
の概略構成を説明する斜視図である。FIG. 1 is a perspective view illustrating an overall schematic configuration of a welding device for a workpiece according to the present invention.
【図２】図１の要部拡大図である。FIG. 2 is an enlarged view of a main part of FIG.
【図３】ハンドリングロボットの横杆に沿って移動する
横行部及びベース部の基端側の構成を説明する図で、
（ａ）は横行部の断面図、（ｂ）は（ａ）の側面から見
た図、（ｃ）はベース部の基端側の構成図である。FIG. 3 is a diagram illustrating a configuration of a base portion of a traversing portion and a base portion that moves along a horizontal rod of the handling robot.
(A) is a cross-sectional view of the traversing portion, (b) is a diagram viewed from the side of (a), and (c) is a configuration diagram of a base end side of the base portion.
【図４】本発明に係る被溶接物の溶接装置の使用状態の
他の例を説明する図である。FIG. 4 is a diagram illustrating another example of a use state of the welding device for a workpiece according to the present invention.
【図５】本発明に係る被溶接物の溶接装置の仮付け溶接
時の動作を説明する図である。FIG. 5 is a view for explaining the operation of the welding device for welding a workpiece according to the present invention at the time of tack welding;
【図６】（ａ）〜（ｃ）は本発明に係る被溶接物の溶接
装置の動作を模式的に説明する図である。6 (a) to 6 (c) are diagrams schematically illustrating the operation of the welding device for a workpiece according to the present invention.
【図７】（ａ）〜（ｃ）は本発明に係る被溶接物の溶接
装置の動作を模式的に説明する図である。FIGS. 7A to 7C are diagrams schematically illustrating the operation of the welding device for a workpiece according to the present invention.
【図８】ハンドリングロボットの横行部の他の例を説明
する図である。FIG. 8 is a diagram illustrating another example of the traversing section of the handling robot.
【図９】（ａ）〜（ｃ）はハンドリングロボットの横行
部の他の例を備えた本発明に係る被溶接物の溶接装置の
動作を模式的に説明する図である。FIGS. 9A to 9C are diagrams schematically illustrating the operation of the welding device for welding a workpiece according to the present invention having another example of the traversing portion of the handling robot.
【図１０】（ａ）〜（ｃ）はハンドリングロボットの横
行部の他の例を備えた本発明に係る被溶接物の溶接装置
の動作を模式的に説明する図である。FIGS. 10A to 10C are diagrams schematically illustrating the operation of the welding device for a workpiece according to the present invention including another example of the traversing portion of the handling robot.
１ 被溶接物の溶接装置 ２ 母材 ３ ガイドレール ４ 門型走行台車 ４ａ 横杆 ５ ハンドリングロボット ５ｇ 横行部 ５ｃ 横行用駆動軸 ５ｋ ベース部 ５ｏ 昇降部 ５ｏａ 把持装置 ５ｏｂ 溶接ロボット ６ 被溶接物 REFERENCE SIGNS LIST 1 Welding device for workpiece 2 Base material 3 Guide rail 4 Portal carriage 4a Horizontal rod 5 Handling robot 5g Traversing unit 5c Traversing drive shaft 5k Base unit 5o Lifting unit 5oa Gripping device 5ob Welding robot 6 Welding object
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ｂ２５Ｊ 13/00 Ｂ２５Ｊ 13/00 Ｚ (72)発明者 砂山 和之 大阪府大阪市住之江区南港北１丁目７番89 号 日立造船株式会社内 (72)発明者 辺春 賢一 熊本県玉名郡長洲町有明１ 九州日立造船 株式会社内 Ｆターム(参考） 3C007 AS11 BS05 BS26 CT02 CV04 CV07 CW05 DS01 ES01 KS07 KS36 KT02 KT05 KV11 KX05 LT12 LV02 MS05 NS09 4E081 YA02 YY04 ──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. 7 Identification symbol FI Theme coat ゛ (Reference) B25J 13/00 B25J 13/00 Z (72) Inventor Kazuyuki Sunayama 1-chome Minami Kohoku, Suminoe-ku, Osaka-shi, Osaka No. 7-89 Hitachi Zosen Corporation (72) Inventor Kenichi Henharu 1 Ariake Nagasu-cho, Tamana-gun, Kumamoto Kyushu Hitachi Zosen Corporation F-term (reference) 3C007 AS11 BS05 BS26 CT02 CV04 CV07 CW05 DS01 ES01 KS07 KS36 KT02 KT05 KV11 KX05 LT12 LV02 MS05 NS09 4E081 YA02 YY04
Claims (4)
と、これら対を成すガイドレール上を往復走行自在に移
動する門型走行台車と、この門型走行台車の横杆に配置
された一対のハンドリングロボットを有する被搬送物の
搬送装置であって、前記ハンドリングロボットは、少な
くとも前記横杆に沿って往復移動可能な横行部と、この
横行部を基点として垂直軸に対して回動可能なベース部
と、このベース部の端部に設けられた垂直方向に昇降可
能な昇降部とから構成されており、この昇降部は、垂直
軸に対して回動可能かつ上下方向の揺動が可能である把
持装置を有していることを特徴とする被搬送物の搬送装
置。1. A pair of guide rails arranged in parallel, a gate-shaped traveling vehicle movably reciprocating on the paired guide rails, and a pair of guides arranged on a horizontal rod of the portal-shaped traveling vehicle. What is claimed is: 1. An apparatus for transporting a transferred object having a handling robot, wherein the handling robot includes a traversing part that can reciprocate at least along the horizontal rod, and a base that is rotatable with respect to a vertical axis with the traversing part as a base point. And a vertically movable part provided at an end of the base part, which can be vertically moved. The vertically movable part is rotatable with respect to a vertical axis and can swing vertically. A transport device for an object to be transported, comprising a gripping device.
と、これら対を成すガイドレール上を往復走行自在に移
動する門型走行台車と、この門型走行台車の横杆に配置
された一対のハンドリングロボットを有する被溶接物の
溶接装置であって、前記ハンドリングロボットは、少な
くとも前記横杆に沿って往復移動可能な横行部と、この
横行部を基点として垂直軸に対して回動可能なベース部
と、このベース部の端部に設けられた垂直方向に昇降可
能な昇降部とから構成されており、この昇降部は、垂直
軸に対して回動可能かつ上下方向の揺動が可能である把
持装置と、垂直方向に移動可能な溶接装置とを有してい
ることを特徴とする被溶接物の溶接装置。2. A pair of guide rails arranged in parallel, a gate-shaped traveling vehicle movably reciprocally traveling on the paired guide rails, and a pair of guide rails arranged on a horizontal rod of the portal-shaped traveling vehicle. A welding device for an object to be welded having a handling robot, wherein the handling robot includes a traversing part that can reciprocate at least along the horizontal rod, and a base that can rotate with respect to a vertical axis with the traversing part as a base point. And a vertically movable part provided at an end of the base part, which can be vertically moved. The vertically movable part is rotatable with respect to a vertical axis and can swing vertically. A welding device for an object to be welded, comprising a holding device and a welding device movable in a vertical direction.
れた少なくとも５つの駆動軸を有する多関節ロボットで
あることを特徴とする請求項２記載の被溶接物の溶接装
置。3. The welding device for an object to be welded according to claim 2, wherein the welding device is an articulated robot having at least five drive shafts each having a welding unit mounted at a tip end thereof.
は、夫々横杆の一方側方又は他方側方に取付けられ、横
杆に沿う移動が干渉されないように構成したことを特徴
とする請求項１記載の被搬送物の搬送装置、或いは、請
求項２又は３記載の被溶接物の溶接装置。4. A traversing part of a pair of handling robots is attached to one side or the other side of the horizontal rod, respectively, so that movement along the horizontal rod is not interfered. The apparatus for conveying an object to be conveyed according to claim 2, or the apparatus for welding an object to be welded according to claim 2 or 3.
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|---|---|---|---|
| JP2002034192A JP4060608B2 (en) | 2001-03-14 | 2002-02-12 | Welding equipment |
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|---|---|---|---|
| JP2001072322 | 2001-03-14 | ||
| JP2001-72322 | 2001-03-14 | ||
| JP2002034192A JP4060608B2 (en) | 2001-03-14 | 2002-02-12 | Welding equipment |
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| JP2002336994A true JP2002336994A (en) | 2002-11-26 |
| JP4060608B2 JP4060608B2 (en) | 2008-03-12 |
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| LAPS | Cancellation because of no payment of annual fees |